Title: Static Stiffness Analysis of a Novel Parallel Manipulator
Abstract: One novel 6-DOF parallel manipulator with hooke hinges is presented to provide precision positioning in this paper. The geometric parameters and spatial architecture of kinematic pairs will influence the system stiffness directly, which impact indirectly the characteristics such as supporting capacity, driving burden and so on. The elastic model of the single chain based on the stiffness equation is presented and the stiffness model of the whole structure is constructed via the principle of virtual work. The static stiffness properties of the manipulator are discussed and the problem of finding the minimum and maximum stiffness and the directions in which they occur for a manipulator in a given posture is addressed. An example is given and the results show that static stiffness properties can be used to guide the optimal design of the structure.
Publication Year: 2012
Publication Date: 2012-08-01
Language: en
Type: article
Indexed In: ['crossref']
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